leo_simulator-ros2

Packages to simulate Leo Rover in ROS 2.

• leo_simulator - Metapackage for this repository.
• leo_gz_bringup - Launch files for starting simulation and adding Leo Rover inside a simulated world.
• leo_gz_plugins - Gazebo plugins for simulated Leo Rover
• leo_gz_worlds - Custom simulation worlds

Building the simulation

1. Setup a colcon workspace
2. Install ros_gz package (Gazebo Fortress or Garden)
3. Clone leo_common-ros2 repository into the workspace:

   cd your_workspace_name/src
   git clone https://github.com/LeoRover/leo_common-ros2
   

4. Clone this repository into the workspace:

   git clone https://github.com/LeoRover/leo_simulator-ros2
   

5. If using Gazebo Garden (skip this step if using Fortress):

   export GZ_VERSION=garden
   

6. Install dependencies using rosdep:

   cd ..
   sudo rosdep init
   rosdep update
   rosdep install --from-paths src -y --ignore-src
   

7. Build the project and source the workspace:

   colcon build --symlink-install
   source install/setup.bash
   

Run Simulation

Run a simulation world with leo rover:

ros2 launch leo_gz_bringup leo_gz.launch.py

Launch agruments:

• sim_world: Path to the Gazebo world file
• robot_ns: Robot namespace

Example:

ros2 launch leo_gz_bringup leo_gz.launch.py sim_world:=~/ros2_ws/src/leo_simulator-ros2/leo_gz_worlds/worlds/lunalab2024.sdf' robot_ns:=your_namespace

Add another leo rover to an already running gazebo world:

ros2 launch leo_gz_bringup spawn_robot.launch.py robot_ns:=your_namespace